#include "pch.hpp"
#include "ActorKinematics.hpp"




ActorKinematics::ActorKinematics(float_t mass, const matrix3x3& inertiaTensor, const vector3& position, const vector3& velocity, const matrix3x3& rotation)
	: mass(mass)
	, invInertiaTensor(inverse(inertiaTensor))

	, position(position)
	, linearVelocity(velocity)
	, rotation(rotation)

	// Since the rotation is initially an identity matrix, the inverse world inertia tensor is identical
	// to the inverse (local) inertia tensor
	, invWorldInertiaTensor(invInertiaTensor)
{}
///////////////////////////////////////////////////////////////////////////////////////////////////
